A system that performs a method is disclosed. At a first time, characteristics about an area surrounding a vehicle are determined using a first sensing grid including first sensing cells of a first size. At a second time, after the first time, whether sensing cell size data satisfies sensing cell size change criteria is determined. In response to the determination: in accordance with a determination that the sensing cell size data satisfies the sensing cell size change criteria, characteristics about the area surrounding the vehicle are determined using a second sensing grid including second sensing cells of a second size, different from the first size. In accordance with a determination that the sensing cell size data does not satisfy the sensing cell size change criteria, characteristics about the area surrounding the vehicle are determined using the first sensing grid including the first sensing cells of the first size.